Homography Based Egomotion Estimation with a Common Direction

被引：47

作者：

Saurer, Olivier ^{[1
]}

Vasseur, Pascal ^{[2
]}

Boutteau, Remi ^{[3
]}

Demonceaux, Cedric ^{[4
]}

Pollefeys, Marc ^{[1
]}

Fraundorfer, Friedrich ^{[5
]}

机构：

[1] Swiss Fed Inst Technol, Comp Vis & Geometry Grp, Dept Comp Sci, Zurich, Switzerland

[2] Univ Rouen, LITIS, Rouen, France

[3] ESIGELEC, IRSEEM, Rouen, France

[4] Univ Bourgogne, UMR CNRS 6306, Le2i, Dijon, France

[5] Graz Univ Technol, Inst Comp Graph & Vis, Graz, Austria

来源：

IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE | 2017年 / 39卷 / 02期

关键词：

Computer vision; egomotion estimation; homography estimation; structure-from-motion; VISION; MOTION;

D O I：

10.1109/TPAMI.2016.2545663

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, we explore the different minimal solutions for egomotion estimation of a camera based on homography knowing the gravity vector between calibrated images. These solutions depend on the prior knowledge about the reference plane used by the homography. We then demonstrate that the number of matched points can vary from two to three and that a direct closed-form solution or a Grobner basis based solution can be derived according to this plane. Many experimental results on synthetic and real sequences in indoor and outdoor environments show the efficiency and the robustness of our approach compared to standard methods.

引用

页码：327 / 341

页数：15

共 50 条

[41] Vision-Based Egomotion Estimation on FPGA for Unmanned Aerial Vehicle Navigation
Angelopoulou, Maria E.
Bouganis, Christos-Savvas
[J]. IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY, 2014, 24 (06) : 1070 - 1083
[42] ROBUST ESTIMATION OF EGOMOTION FROM NORMAL FLOW
SINCLAIR, D
BLAKE, A
MURRAY, D
[J]. INTERNATIONAL JOURNAL OF COMPUTER VISION, 1994, 13 (01) : 57 - 69
[43] Egomotion estimation for monocular camera visual odometer
Bevilacqua, M.
Tsourdos, A.
Starr, A.
[J]. 2016 IEEE INTERNATIONAL INSTRUMENTATION AND MEASUREMENT TECHNOLOGY CONFERENCE PROCEEDINGS, 2016, : 1428 - 1433
[44] Homography estimation on the Special Linear Group based on direct point correspondence
Hamel, Tarek
Mahony, Robert
Trumpf, Jochen
Morin, Pascal
Hua, Minh-Duc
[J]. 2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC), 2011, : 7902 - 7908
[45] Visuo-inertial fusion for homography-based filtering and estimation
Eudes, Alexandre
Morin, Pascal
Mahony, Robert
Hamel, Tarek
[J]. 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2013, : 5186 - 5192
[46] SCALE ROBUST HEAD POSE ESTIMATION BASED ON RELATIVE HOMOGRAPHY TRANSFORMATION
Liu, Chenguang
Cheng, Hengda
Dasu, Aravind
[J]. NEW MATHEMATICS AND NATURAL COMPUTATION, 2014, 10 (01) : 69 - 90
[47] Homography-based Riccati observer design for camera pose estimation
Bouazza, Tarek
Hamel, Tarek
Minh Duc Hua
Mahony, Robert
[J]. 2022 IEEE 61ST CONFERENCE ON DECISION AND CONTROL (CDC), 2022, : 6862 - 6868
[48] HEASK: Robust homography estimation based on appearance similarity and keypoint correspondences
Yan, Qing
Xu, Yi
Yang, Xiaokang
Truong Nguyen
[J]. PATTERN RECOGNITION, 2014, 47 (01) : 368 - 387
[49] Reinforcement learning-based image exposure reconstruction for homography estimation
Yijun Lin
Fengge Wu
Junsuo Zhao
[J]. Applied Intelligence, 2023, 53 : 15442 - 15458
[50] Homography Estimation Based on Order-Preserving Constraint and Similarity Measurement
Zhu, Haijiang
Wen, Xin
Zhang, Fan
Wang, Xuejing
Wang, Guanghui
[J]. IEEE ACCESS, 2018, 6 : 28680 - 28690

← 1 2 3 4 5 →